基于遗传算法的农业移动机器人视觉导航方法.pdf

2 0 0 8 6 39 6 高　峰　李　艳　见浪 　黄玉美 　　【】　, , - 。 , , 。 , 。 :　　　 :T P24 :A Visual Navigation Method Based on Genetic Algorithm for Agricultural Mobile Robots 1 1 2 1 Gao Feng 　Li Yan 　Minami Mamoru 　Huang Yumei (1.X i an Un iversity of Techn ology , X i an 7 10048, Ch ina 2.F uk ui Un iversi ty , F uku i 910 -8507, J ap an ) Abstract In order to en ure recognizing crop row automatically with ome robu tne again t noi e environment and to conf irm it po ible intelligence for an agriculture mobile robot w orking in the field , a crop row recognition method w a pre ented by u ing genetic algorithm with urf ace-trip model to detect the crop row imaged in the gray cale image without any preproce ing .The accuracy and tability of the propo ed vi ual recognition of crop raw w ith high robu tne again t noi e uch a unlight condition v arietie and ob tacle w ere demon trated by artificial image and real image canning.The robu tne of the method again t enviro nmental noi e and the effectivene of the method for real-time recognition have been verified by u ing real rural image . Key words　Agricultural robot , Vi ual recognition, M odel-ba ed matching, Genetic algorithm [6 ～ 8] 。 　　 , 、 。 、、、 , - 。、 , GPS 、[1 ～5] 。 。 , [9] , , 。- 。, (genetic algorithm, GA ) :2007-07-11 　　 　, 710048　 　　 　 　　, 910-8507　 　 　 128